US10536068B2 - Hybrid feedforward control architecture and related techniques - Google Patents
Hybrid feedforward control architecture and related techniques Download PDFInfo
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- US10536068B2 US10536068B2 US15/633,748 US201715633748A US10536068B2 US 10536068 B2 US10536068 B2 US 10536068B2 US 201715633748 A US201715633748 A US 201715633748A US 10536068 B2 US10536068 B2 US 10536068B2
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
- H02M1/4208—Arrangements for improving power factor of AC input
- H02M1/4225—Arrangements for improving power factor of AC input using a non-isolated boost converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
- H02M1/007—Plural converter units in cascade
-
- H02M2001/0016—
-
- H02M2001/007—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
-
- Y02B70/126—
Definitions
- the present disclosure relates to hybrid feedforward control of power converters.
- FIG. 1 A block diagram of a conventional pulse-width modulated (PWM) switching power converter is shown in FIG. 1 .
- the converter has an input u in , an output u out , and is controlled by a duty-cycle command d.
- output u out is sensed and compared with the reference u ref . The error between the two is passed to a compensator G c (s).
- This compensator generates the duty cycle command d for a pulse-width modulator, which produces converter switch control signals. While the compensator parameters are typically determined based on a converter averaged small-signal model and standard frequency-domain control-loop design techniques, the conventional controller architecture does not make use of the converter intrinsic characteristics or topological relationships. In some cases, the number of sensors required to sense the converter states can thus be more than the minimum number of sensors required to control the converter. This increases layout complexities, and hardware and engineering costs associated with the power converter. Thus, there is a need for control architectures with a reduced sensing requirement that could potentially also have improved static and dynamic performance.
- This converter architecture comprises an ac-dc conversion stage followed by an output voltage regulation stage.
- the ac-dc conversion stage draws active power from the grid by drawing input current in-phase with the input voltage of the converter.
- the twice-line-frequency ripple in the output power of the ac-dc conversion stage is buffered by an energy buffering capacitor, C.
- the traditional converter employed for power factor correction (PFC) is a boost converter due to the ease of synthesizing a single controller able to operate over a large range of input voltage. Since the output voltage of the boost converter has to be greater than the peak input voltage (374 V for universal input ac-dc converters), the bus voltage is nominally chosen to be around 400 V. In applications requiring the load voltage to be much lower than the peak input ac voltage, this poses significant voltage stresses on the second stage of the converter. The large conversion ratio required from the second stage results in this stage needing to process large fraction of indirect power, decreasing the efficiency of the stage and the overall converter.
- hybrid feedforward control architectures for pulse-width modulated (PWM) switching converters.
- PWM pulse-width modulated
- DCM discontinuous conduction mode
- hybrid feedforward control synthesis principles are also used to realize new hybrid feedforward control architectures.
- a PFC rectifier based on a four-switch (non-inverting) buck-boost converter utilizing hybrid feedforward control is provided.
- This simple control architecture allows the converter to operate in continuous conduction mode, with smooth transitions between the buck and the boost operations across a line-cycle.
- the controller computes the buck and the boost duty cycles based only on the sensed inductor current and output voltage.
- the hybrid feedforward controller operation and converter design are verified by experiments on a universal-input, 110-V output, 1-kW four-switch buck-boost PFC rectifier prototype.
- a hybrid feedforward controller for a buck converter based battery charger that regulates the charging power is also provided.
- the four-switch buck-boost PFC converter and the buck regulator can be utilized as offline battery chargers, as well as power supplies for various loads.
- hybrid feedforward controllers for additional PWM converters are also provided. Special cases for ac-dc conversion achieved using boost, Cuk, SEPIC, buck-boost and flyback converter controlled using hybrid feedforward controllers are also provided.
- FIG. 1 shows a schematic diagram of a feedback controller architecture for a pulse-width modulated (PWM) switching converter.
- PWM pulse-width modulated
- FIG. 2 shows a schematic diagram of an example ac-dc converter architecture including an ac-dc rectification boost stage and a voltage regulation stage. Presence of a boost converter forces the ac-dc rectification stage to have output voltage greater than peak input voltage, which stresses the second stage of the converter and degrades converter efficiency.
- PWM pulse width modulated
- FIG. 4 shows a schematic diagram of an example ac-dc converter architecture including a four-switch buck-boost based ac-dc rectification stage followed by a voltage regulation stage, according to one or more embodiments described and shown herein.
- the presence of the four-switch buck-boost converter allows the ac-dc rectification stage to have output voltage lower than the peak input ac voltage, reducing the stress on second stage of the converter.
- FIGS. 5( a ) and 5( b ) show a schematic diagram of an example implementation of a power factor correction functionality (PFC) implemented using two different control approaches.
- FIG. 5( a ) PFC functionality implemented using conventional average current mode feedback control
- FIG. 5( b ) shows a combined hybrid feedforward-feedback control, according to one or more embodiments described and shown herein.
- the feedback control architecture is not affected by the converter topology, as the converter topology and its circuit element values are only used to determine the compensator parameters.
- hybrid feedforward control utilizes the converter topology and characteristics in the control architecture.
- the converter independent variables, input voltage v in , and output voltage v out are utilized to synthesize the hybrid feedforward controller.
- FIG. 6 depicts a graph showing input voltage (v in ), input current (i in ) and output voltage (v out ) waveforms of an example implementation of a boost converter operating in DCM and acting as a PFC stage with input voltage of 80 V rms , input current of 11.8 A rms and output voltage of 144 V.
- FIGS. 7( a ) and 7( b ) show schematic diagrams of a converter for battery charging considered as an example to illustrate the development of hybrid feedforward control architecture.
- FIG. 7( a ) shows the converter architecture
- FIG. 7( b ) shows a large signal model of the converter.
- FIG. 8 shows a schematic diagram of an example implementation of a battery charger circuit including a first stage four-switch buck-boost converter, functioning as a PFC stage. Two independent duty cycle commands are marked as d buck and d boost .
- a second stage is a buck converter functioning as power regulation stage.
- FIG. 9 shows a graph showing example operational modes of an example four-switch buck-boost converter over a line cycle.
- the converter transitions between buck and boost modes when input voltage in greater than and less than output voltage of the converter respectively.
- FIGS. 10( a ) and 10( b ) shows schematic diagrams of example implementations of a four-switch buck-boost converter topologies: FIG. 10( a ) shows a synchronous converter and FIG. 10( b ) shows an asynchronous converter.
- FIG. 11 shows a schematic diagram of an example four-switch buck-boost converter control architecture for PFC operation.
- inductor current and bus voltage are sensed and processed to generate two duty cycle commands d buck and d boost .
- the architecture comprises of an inner hybrid feedforward current control loop and an outer voltage regulation loop.
- FIG. 12 shows a graph showing example four-switch buck-boost duty cycle commands d buck and d boost plotted over half line cycle.
- FIG. 13 is a graph showing input voltage, input current and output voltage waveforms of an example four-switch buck-boost converter acting as PFC stage with Input voltage (v in ) of 120 V rms , input current (i in ) of 7.9 A rms and output voltage (v out ) of 110 V.
- FIG. 14 is a graph showing input voltage, input current and output voltage waveforms of four-switch buck-boost converter acting as PFC stage with Input voltage (v in ) of 105 V rms , input current (i in ) of 7 A rms and output voltage (v out ) of 90 V.
- FIG. 15 shows a schematic diagram of an example power regulation of battery implemented using hybrid feedforward controller based buck converter.
- FIG. 16 is a graph showing simulation waveforms of an example power regulation stage. Ripple present in the bus voltage is rejected and battery current is constant.
- FIG. 17 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on four-switch buck-boost converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle.
- FIG. 18 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on four-switch buck-boost converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 19 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on buck converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 19A shows a schematic diagram of another implementation of a hybrid feedforward control architecture implemented on a dc-ac converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 20 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on boost converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 21 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on boost converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 22 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on Cuk converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 23 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on Cuk converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 24 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on SEPIC converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 25 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on SEPIC converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 26 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on buck-boost converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- FIG. 27 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on buck-boost converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 28 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on flyback converter for ac-dc conversion.
- the structure comprises an inner hybrid feedforward loop and an outer voltage loop.
- FIG. 29 shows a schematic diagram of a general structure of hybrid feedforward control architecture implemented on flyback converter.
- the controller senses the converter independent variables and processes them, along with the reference command u ref , to generate converter duty cycle commands.
- Control architectures can be synthesized on PWM switching converters which differ from feedback control architectures shown in FIG. 1 .
- converter intrinsic relationships can be utilized to synthesize controllers.
- feedforward control of buck converters in which the duty cycle is determined, at least in part, based on the converter topology and conversion characteristics. This concept can be generalized as shown in FIG. 3 .
- the control strategy involves sensing the converter independent variables, which may involve duty-cycle dependent as well as duty-cycle independent variable(s).
- the control architecture shown in FIG. 3 may include feedforward and feedback loops, and is therefore referred to as hybrid feedforward control architecture.
- the control architecture is differentiated from pure feedforward control architecture, in which the duty cycle command is determined solely based on input(s) (duty cycle independent converter variable(s)). Pure feedforward control is considered different from hybrid feedforward control and is not discussed here.
- hybrid feedforward control architecture for PWM converters. Examples include non-linear carrier control for power factor correction (PFC) converters operating in continuous conduction mode (CCM) and open loop control of boost PFC converters operating in discontinuous conduction mode (DCM). All of these control strategies can be considered particular implementations of the architecture shown in FIG. 3 .
- the hybrid feedforward control architectures can achieve certain advantages over the conventional feedback architecture. Since there is a degree of freedom in choosing converter independent variables, reduced or more convenient sensing can be employed. Furthermore, hybrid feedforward approaches can lead to simpler controller implementations, and improved static and dynamic regulation. Additionally, it is also possible to embed hybrid feedforward control loops inside feedback loops, which can achieve benefits of both.
- Hybrid feedforward control approach offers an alternate approach to synthesize controllers on power converters. In applications where synthesizing feedback control architecture can be very challenging, hybrid feedforward controllers can offer much simpler solution. In this context consider the ac-dc conversion example discussed earlier.
- the converter comprises a buck and boost stage. It operates as a buck converter when line voltage is greater than bus voltage and as a boost converter when line voltage goes lower than bus voltage. As can be observed in FIG. 4 , the converter allows bus voltage to be lower than peak input voltage, reducing voltage stress on the second stage.
- Hybrid feedforward control architecture can be generalized and synthesized systematically for PWM converters. Furthermore, in one example, a simple hybrid feedforward control architecture for allowing the four-switch buck-boost converter to achieve PFC functionality is provided. In this example, the converter is operated in continuous conduction mode (CCM) over the line cycle and controlled using a hybrid feedforward controller. It can be shown that to implement PFC operation, only two sensors (inductor current sensor and output voltage sensor) are required, as opposed to requirement of three sensors in conventional boost ac-dc converter, easing the hardware implementation. Additionally, the control architecture is relatively simple to implement, achieves automatic mode transition between buck and boost modes and can achieve good performance.
- CCM continuous conduction mode
- Hybrid feedforward control of boost power factor correction (PFC) rectifiers can operate in discontinuous conduction mode.
- Conventional feedback control architecture is shown in FIG. 5( a ) .
- the control objective is to shape average input current to follow the input voltage.
- traditional average current mode control is realized by sensing the input voltage and using it to generate a reference for the sensed average input current.
- the error between the two signals is processed by a current-loop compensator, which generates a duty cycle command for the power converter.
- Output dc voltage regulation is realized by sensing the output voltage, comparing it with a reference, and passing the error through a voltage-loop compensator.
- the output of the voltage-loop compensator slowly modulates the amplitude of the input current. As illustrated in FIG.
- this feedback control architecture remains unchanged, regardless of the converter topology employed.
- the converter topology and its circuit elements are only used to determine the compensator parameters.
- input voltage, input current and output voltage of the converter are related to each other by converter intrinsic relationships, these relationships are not utilized within the control architecture. This results in greater than minimum number of sensors required to implement the control functionality.
- FIG. 5( b ) shows an implementation of a hybrid feedforward control architecture for a DCM boost converter, where the converter intrinsic relationships can be used to achieve the control objectives while eliminating the need to sense the input current.
- average input (inductor) current can be expressed as [1]:
- i in T s ( T s 2 ⁇ ⁇ L ⁇ d 2 1 - v in v out ) ⁇ v in , ( 4 )
- i in T s is the average input current
- v in is the full-wave rectified input line voltage
- v out is the output voltage
- T s is the switching period
- d is the duty cycle
- L is the boost inductance
- the required duty cycle command can be determined from (4) and expressed as:
- hybrid feedforward control can result in reducing the number of sensors and simplifying the hardware implementation of the control circuit, while the outer conventional feedback architecture results in tight output voltage regulation, correcting for any inaccuracies in extracting converter parameters (L, T s ).
- the DCM boost PFC example shown in FIG. 5( b ) of Section I can be used as an illustrative example.
- a general block diagram for a hybrid feedforward controller around a switching power converter is shown in FIG. 3 .
- the solution may not be unique. In general, it is desirable, although not necessary, to achieve additional objectives such as minimization of sensing requirements or simplicity of analog or digital controller implementation.
- a variable is considered independent if it cannot be determined from converter open-loop characteristics based on the knowledge of other independent variables and duty cycle d. Thus, in steady state any other converter variable can be expressed in terms of this necessary and sufficient set of converter independent variables u*, along with the converter duty cycle d.
- converter voltages and currents are independent from each other, as the converter conversion ratio is independent of load current. Thus at least one converter voltage and one converter current should be identified as independent.
- any other converter variable can be expressed based on the converter steady-state characteristics in terms of the variables in u* and the duty cycle d.
- the reference command u ref can either be an independent signal or dependent upon converter variables. If u ref is an independent signal, then u out in (7) involves dependence on duty cycle d. In the case u ref is dependent upon converter variables, possibly including d, this dependence should be included in (9) and (10). In all cases, the final expressions (9) and (10) should involve a subset of converter independent variables, and duty cycle d. In general, the independent variables that appear in the duty cycle modulation expressions (9) and (10) are the variables that need to be sensed.
- duty cycle expression (12) depends upon converter input voltage, output voltage and the reference command.
- the dependence of duty cycle command on the reference command can be further simplified here, as the reference command depends upon one of the converter variables (input voltage),
- duty cycle modulation equation (9) or (10) can be implemented in multiple ways, which may involve analog or digital implementations. Direct duty cycle modulation is possible by programming the duty cycle modulation equation (10) into a microcontroller. Also relatively simple analog circuits can be designed to solve (9), such as demonstrated in D. Maksimovi ⁇ , Y. Jang, and R. W. Erickson, “Nonlinear-carrier control for high-power-factor boost rectifiers,” IEEE Trans. Power Electron ., vol. 11, no. 4, pp. 578-584, 1996 (Maksimovic et al.), Z. Lai, K. M. Smedley, and Y. Ma, “Time quantity one-cycle control for power-factor correctors,” IEEE Trans.
- FIG. 7( a ) shows a large signal averaged model of this architecture, where the ac-dc conversion stage is modelled by a loss-free resistor, followed by the power regulation stage which behaves as a power sink at its input port and a power source at its output port.
- a four-switch buck-boost converter is selected as shown in FIG. 4 and FIG. 8 .
- This particular converter topology enables the output voltage of the PFC stage to be lower than the peak input voltage, as the converter operation can switch between buck or boost modes during different periods of the line cycle. Hence, the step-down conversion ratio required from the second stage can be reduced. This can be advantageous if the battery voltage is much lower than the peak input voltage.
- FIG. 8 Topology of four-switch buck-boost converter is shown in FIG. 8 .
- the converter in this example comprises a buck stage and a boost stage that share the same inductance.
- output voltage of the converter can be smaller than peak input voltage, but greater than zero.
- the converter operates in buck and boost modes of operation when the input voltage is greater than and smaller than output voltage of the converter, respectively, as shown in FIG. 9 .
- the mode transition happens when input line voltage is equal to output voltage of the converter.
- topology selection and energy buffering capacitor selection are discussed below:
- Four-switch buck-boost converter can be realized as either synchronous or asynchronous converter. Synchronous and asynchronous topologies of the converter are shown in FIG. 10 . If the converter is operated as synchronous converter, the converter remains in CCM over the complete line cycle. On the other hand, asynchronous operation of the converter can possibly lead to CCM and DCM mode of operation of the converter.
- the control architecture considered in Section (3) only works for CCM mode of operation of the converter. Thus, it becomes important to design the asynchronous converter to remain in CCM over the line cycle.
- An output capacitor of the four-switch buck-boost converter acts as an energy buffering capacitor and buffers the difference of input ac power and output dc power. Due to energy buffering, twice line frequency ripple appears in the capacitor voltage. Ripple in capacitor voltage can be expressed as:
- ⁇ ⁇ ⁇ V bus P dc 2 ⁇ ⁇ CV nom , bus ⁇ ⁇ l .
- ⁇ V bus bus voltage ripple
- P dc load power
- V nom bus
- ⁇ l line frequency
- the bus voltage is an intermediate system voltage which is regulated by voltage regulation stage as shown in FIG. 8 .
- large bus voltage ripple can be afforded at the expense of power regulation stage regulating power in the load.
- rejection of the ripple can be easily done by designing controller of voltage regulation stage properly.
- the control architecture for making the converter act as PFC converter is shown in FIG. 11 .
- the control architecture comprises an inner current control loop implemented through hybrid feedforward control architecture and an outer voltage loop implemented in standard feedback manner.
- i in v in /R e
- the outer voltage loop controls input power flow into the converter.
- a choice of converter independent variables can be made to achieve the desired control objective.
- inductor current i l and output voltage v bus are selected as converter independent variables.
- the choice of converter independent variables is well suited for sensing purposes, since output voltage v bus needs to be sensed to implement outer voltage loop and its sensing is independent of inner hybrid feedforward control loop.
- sensing of output voltage is utilized twice, in inner current control loop and outer voltage loop. Furthermore, sensing of inductor current is feasible since the current is continuous in nature and is not polluted with converter switching frequency signal.
- the sensed signals are sampled at the converter switching frequency and processed by microcontroller to compute two duty cycle commands d buck and d boost .
- the two duty cycle commands can be expressed in terms of chosen independent variables as:
- v bus is the instantaneous bus voltage
- i l T s is average inductor current in a switching interval
- R e is emulated input resistance of the converter.
- Emulated input resistance R e of the converter determines input power flow of the converter. This, as discussed earlier and shown in FIG. 11 , is computed by implementing an outer voltage loop to match input power with load power. Output of the outer voltage loop compensator is then used in inner hybrid feedforward controller. Note that since the output of outer voltage loop compensator is a slowly varying signal, it makes negligible impact on the performance of inner current control loop in steady state.
- a prototype of the four-switch buck-boost converter acting as a power factor correction rectifier is designed, built and tested.
- the converter is designed for 1 kW of input power, operating at a switching frequency of 100 kHz.
- Inductance and capacitance values used in the converter are listed in Table I.
- a TI 32-bit microcontroller listed in Table I is used. Average inductor current and output voltage of the converter is sensed and sampled at the converter switching frequency of 100 kHz. The sensed commands are then processed in the microcontroller to compute two duty cycle commands d buck and d boost for the converter in every switching interval as discussed in Section III.A.3. The duty cycle commands are then processed by digital pulse width modulator to generate four switched commands for the converter.
- FIG. 13 shows the converter waveforms when the converter is operating at a line voltage of 120 V rms and processing 950 W of power.
- the converter achieves close to unity power factor.
- Output voltage of the converter is 110 V with twice line frequency ripple, lower than peak input voltage 170 V.
- Experimental results at line voltage of 105 V rms are shown in FIG. 14 .
- Lag in input current with respect to input voltage in the experimental results is due to capacitive filter employed at the converter input. Apart from phase lag, the converter achieves good performance. It can be observed that the converter transitions between buck and boost modes automatically over the line cycle.
- Hybrid feedforward control can also be implemented for the power regulation stage of the battery charger.
- a synchronous buck converter operating in CCM is selected, as shown in FIG. 8 .
- the input voltage of the buck converter has twice line frequency ripple because of the finite size of the energy buffering capacitor at the output of the previous stage.
- battery voltage is also subject to change depending on the state of charge of the battery.
- An ideal power regulator should maintain constant charging power in the presence of these disturbances.
- the input voltage of the buck converter v bus (output voltage of the PFC stage) and its inductor current i l 2 are chosen as the independent variables.
- Hybrid feedforward control architecture can be realized on four-switch buck-boost converter in multiple ways.
- FIG. 17 shows a general structure of a hybrid feedforward controller implemented on four-switch buck-boost converter. The controller senses the converter independent variables and utilizes them to compute the converter duty cycles. Choice of converter independent duty cycles can be made in multiple ways as discussed in section II.
- the control architecture is shown in FIG. 18 .
- the architecture comprises an inner hybrid feedforward control loop and an outer voltage loop. The inner loop controls the input current flowing into the converter and the outer voltage loop controls the output voltage of the converter by controlling power flow into the converter, as discussed earlier.
- converter independent variables can be made based on convenience of employing sensors to sense converter voltages/currents.
- One convenient choice of converter independent variables is sensing output voltage and inductor current.
- sensing of output voltage of the converter can be implemented for the outer voltage loop.
- it is used twice, in the inner hybrid feedforward control loop and in the outer voltage loop.
- second converter independent variable should be the converter current.
- inductor current is convenient as the current is continuous, ideally free from converter switching noise and thus the average can be easily computed.
- the control architecture with this choice of converter independent variables has been discussed earlier and shown in FIG. 11 .
- Other choices of converter independent variables can be made as a matter of convenience of employing sensors.
- Converter independent variables ⁇ v x , i y ⁇ Boost duty cycle d boost f ⁇ ( ⁇ v x , i y ⁇ , 1 R e )
- Buck duty cycle d buck f ⁇ ( ⁇ v x , i y ⁇ , 1 R e )
- Mode of Operation v out , i l T s 1 - R e ⁇ ⁇ i l ⁇ T s v out v out R e ⁇ ⁇ i l ⁇ T s CCM v out , i in T s 1 - R e ⁇ ⁇ i in ⁇ T s v out v out R e ⁇ ⁇ i in ⁇ T s CCM v out , i out T s 1 - R e ⁇ ⁇ i in ⁇ T s CCM v out , i out T s 1 - R e ⁇ ⁇ i out
- Hybrid feedforward controller implemented on buck converter is shown in FIG. 19 .
- the controller senses the converter independent variables, processes them according to duty cycle modulation equation and generates duty cycle d buck for the converter.
- the duty cycle modulation equation depends upon the nature of processing the converter is commanded to do and is an outcome of the synthesis process discussed in Section II.
- the converter can be designed to achieve dc-dc conversion, dc-ac conversion (see, e.g., FIG. 19A ), ac-dc converter, current regulation or power regulation.
- Section III.B discusses one such example of power regulation achieved using buck converter in a battery charger system.
- Other power processing functions can be achieved by selecting appropriate converter independent variables and designing the controller to process specific duty cycle modulation equation following the procedure discussed in Section II.
- Hybrid feedforward controller implemented on boost converter is shown in FIG. 20 .
- the controller senses the converter selected independent variables, processes them using duty cycle modulation function and generates duty cycle command d boost for the converter.
- the converter with the control architecture can be used for ac-dc conversion as shown in FIG. 21 .
- Few well known ac-dc conversion controllers implemented using hybrid feedforward controller include non-linear carrier control of boost converter [7], [8] and open loop control of boost converter in DCM [9], [10].
- Other possible choices of converter independent variables and corresponding duty cycle modulation functions are given in Table III.
- the proposed controller presented in Table III can be compared with well-known open loop control of boost converter and non-linear carrier control.
- the converter operates in DCM over complete line cycle. This creates significant EMI noise.
- input current of the converter has significant switching content, putting high stress on the EMI filter.
- peak currents can be much larger in DCM operation as compared to CCM operation, requiring significant derating of semi-conductor devices.
- the proposed controllers are designed for the converter to operate in CCM over the line cycle, easing EMI filter design and generating less EMI noise.
- the sensed signals here include input current sensing which is continuous in nature and free from switching noise, while non-linear carrier control relies on sensing switch current.
- the switch current contains significant switching noise, making it difficult to average switch current and need additional circuity which can complicate design, while average inductor current can be sensed directly without employing complex circuitry.
- Converter independent variables ⁇ v x , i y ⁇ Boost duty cycle d boost f ⁇ ( ⁇ v x , i y ⁇ , 1 R e ) Mode of Operation v out , i in T s 1 - R e ⁇ ⁇ i in ⁇ T s v out CCM v out , i out T s 1 - R e ⁇ ⁇ i out ⁇ T s v out CCM
- Cuk converter with hybrid feedforward control implemented is shown in FIG. 22 .
- the converter independent variables are sensed and processed to compute duty cycle d cuk for the converter.
- the converter can be used for ac-dc conversion in an architecture shown in FIG. 23 .
- Different choices of converter independent variables leading to different choices of duty cycle modulation equations are listed in Table. IV.
- the controller for Cuk converter presented in Table IV can be compared with constant duty cycle control and non-linear carrier control.
- the proposed controllers are designed for the converter to operate in CCM over the line cycle.
- CCM the converter generates significantly less EMI, as compared to DCM operation.
- filter employed at the input of the converter to filter switching current can be much smaller for CCM operation than for DCM operation.
- peak current are significantly larger in DCM operation than in CCM operation, requiring derated semiconductor devices.
- Constant duty cycle control of Cuk converter relies on the operation of the converter in DCM, making it susceptible to the issues mentioned.
- non-linear carrier controller senses average switch current which contains significant switching harmonics, making it difficult to sense and can create cross talk with other sensed signal.
- the prosposed controller senses input and output currents which are continuous in nature and free from switching noise.
- Converter independent variables ⁇ v x , i y ⁇ Cuk duty cycle d cuk f ⁇ ( ⁇ v x , i y ⁇ , 1 R e ) Mode of Operation v out , i in T s 1 1 - R e ⁇ ⁇ i in ⁇ T s v out CCM v out , i out T s 1 1 + R e ⁇ ⁇ i out ⁇ T s v out CCM
- FIG. 24 A general structure of an example SEPIC converter with a hybrid feedforward controller implemented is shown in FIG. 24 .
- the controller senses the converter independent variables and processes them to produce duty cycle command d sepic for the converter.
- the converter with control architecture can be used for ac-dc conversion as shown in FIG. 25 .
- Some of the possible choices of converter independent variables and duty cycle modulation functions are listed in Table V.
- Other example hybrid feedforward control architectures for SEPIC converter based ac-dc converter implementations include non-linear carrier control and constant duty cycle control.
- Converter independent variables ⁇ v x , i y ⁇ SEPIC converter duty cycle d sepic f ⁇ ( ⁇ v x , i y ⁇ , 1 R e ) Mode of Operation v out , i in T s 1 1 + R e ⁇ ⁇ i in ⁇ T s v out CCM v out , i out T s 1 1 + R e ⁇ ⁇ i out ⁇ T s v out CCM v out , i l T s 1 1 + R e ⁇ ⁇ i l ⁇ T s v out CCM
- FIG. 26 An example buck boost converter topology with a hybrid feedforward controller implemented is shown in FIG. 26
- the controller senses the converter independent variables and processes them to generate duty cycle command d buck-boost for the converter.
- the control architecture with inner hybrid feedforward controller and outer voltage loop controller is shown in FIG. 27 .
- Example hybrid feedforward controllers for buck boost converter based ac-dc converter also include constant duty cycle control and non-linear carrier control. Sensing of inductor current, listed in last row of Table VI is very convenient as compared to switch current sensing in non-linear carrier control, as the inductor current is a continuous signal and sensor signal is not corrupted with switching noise of the circuit. In comparison with constant duty cycle control, which relies on DCM operation of the circuit, the proposed controller relies on CCM operation of the converter. CCM operation significantly lowers EMI noise, eases input filter implementation and reduces peak current rating of semiconductor devices.
- FIG. 28 A flyback converter utilizing the hybrid feedforward controller architecture is shown in FIG. 28 .
- the controller senses the converter independent variables, computes the duty cycle using a duty cycle modulation equation, and outputs the duty cycle for the converter.
- FIG. 29 shows an example implementation of a flyback converter utilizing the hybrid feedforward controller architecture, in which the converter performs ac to dc conversion.
- the inner hybrid feedforward control loop acts as the current regulation loop
- the outer feedback loop regulates the output voltage v out of the converter.
- Some example hybrid feedforward controllers implemented on flyback converter based ac-dc converter include constant duty cycle control and non-linear carrier control. In the non-linear carrier control, output voltage and average input current are sensed and processed to generate the duty cycle for the converter.
- Table VII Another possible implementation with a different choice of converter independent variables and duty cycle command modulation equation is given in Table VII. Here output voltage and average output current of the converter are sensed and processed to generate duty cycle for the converter.
- a benefit this provides as compared to non-linear carrier control is that both variables are sensed on the output side of the converter, thus isolation of the transformer is not disturbed by employing sensors.
- a digital command digital isolators can be used.
- non-linear carrier control average input current and output voltage are sensed and thus isolation of the transformer can be effect because of currents flowing through the sensing path.
- this example controller In comparison with constant duty cycle control, which relies on DCM operation of the circuit, this example controller relies on CCM operation of the converter. CCM operation significantly lowers EMI noise, eases input filter implementation and reduces peak current rating of semiconductor devices.
- Converter independent variables ⁇ v x , i y ⁇ Flyback duty cycle d flyback f ⁇ ( ⁇ v x , i y ⁇ , 1 R e ) Mode of Operation v out , i out T s 1 1 + n ⁇ R e ⁇ ⁇ i out ⁇ T s v out CCM
- joinder references do not necessarily infer that two elements are directly connected and in fixed relation to each other. It is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative only and not limiting. Changes in detail or structure may be made without departing from the spirit of the invention as defined in the appended claims.
Abstract
Description
where iin T
where Re is the emulated input resistance of the converter. From (5), one can observe that sensing only input voltage and output voltage of the converter are required to achieve desired modulation of duty cycle. To regulate the output voltage, one can utilize the sensed output voltage to implement conventional outer voltage control loop, which modulates amplitude of the input current. The resulting control architecture is shown in
u out = i in T
u out =g({v x ,i y },d), (7)
and combine this with the control objective:
u out =u ref, (8)
to arrive at the relationship:
g({v x ,i y },d)=u ref, (9)
which determines how duty cycle d should be modulated in order to achieve the desired control objective (8). Solving (9) for d yields the duty cycle command:
d=f({v x ,i y },u ref), (10)
which is shown in the hybrid feedforward controller block diagram in
which yields the following duty cycle modulation equation.
Here ΔVbus is bus voltage ripple, Pdc is load power, Vnom,bus is nominal bus voltage and ωl is line frequency. From (14), one can note that lowering the nominal bus node voltage leads to larger ripple across the capacitor. This can be compensated by increasing the size of capacitor proportionally. Therefore, a tradeoff between larger capacitor size and smaller bus node voltage appears due to ac energy buffering in the capacitor.
Here vbus is the instantaneous bus voltage, il T
TABLE I |
Four-switch buck-boost converter component parameters. |
Switching | Inductance | Capacitance | |||
Frequency | (L) | (C) | Micro-controller | ||
100 kHz | 300 μH | 250 μF | TMS320F28069 | ||
commands after passing through saturation are shown in
u out =P batt =v batt i batt =g(v bus , i l
Here, dbatt is the duty cycle of the power regulation buck converter. Expression (16) can be equated with the reference command:
d batt v bus i l
which yields the controller duty cycle modulation equation (10) in the following form:
TABLE II |
Possible choices of converter independent variables and corresponding duty cycle |
signals for controlling four switch buck boost converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | Boost duty cycle
|
Buck duty cycle
|
Mode of Operation |
vout, il T |
|
|
CCM |
vout, iin T |
|
|
CCM |
vout, iout T |
|
|
CCM |
vin, iout T |
|
|
CCM |
TABLE III |
Possible choices of converter independent variables and |
corresponding duty cycle signals for controlling |
boost converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | Boost duty cycle
|
Mode of Operation |
vout, iin T |
|
CCM |
vout, iout T |
|
CCM |
TABLE IV |
Possible choices of converter independent variables and |
corresponding duty cycle signals for controlling |
Cuk converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | Cuk duty cycle
|
Mode of Operation | ||
vout, iin T |
|
CCM | ||
vout, iout T |
|
CCM | ||
TABLE V |
Possible choices of converter independent variables and |
corresponding duty cycle signals for controlling |
SEPIC converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | SEPIC converter duty cycle
|
Mode of Operation |
vout, iin T |
|
CCM |
vout, iout T |
|
CCM |
vout, il T |
|
CCM |
TABLE VI |
Possible choices of converter independent variables and |
corresponding duty cycle signals for controlling |
buck-boost converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | Buck Boost duty cycle
|
Mode of Operation |
vout, iout T |
|
CCM |
vout, il T |
|
CCM |
TABLE VII |
Possible choices of converter independent variables and |
corresponding duty cycle signals for controlling |
flyback converter as power factor correction rectifier. |
Converter independent variables {vx, iy} | Flyback duty cycle
|
Mode of Operation | |
vout, iout T |
|
CCM | |
Claims (23)
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